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   <div id="projectname">MRSL JPS3D Library
   &#160;<span id="projectnumber">1.1</span>
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   <div id="projectbrief">An implementaion of Jump Point Search on 3D voxel map</div>
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<li class="navelem"><a class="el" href="dir_13e138d54eb8818da29c3992edef070a.html">test</a></li>  </ul>
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<div class="title">read_map.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Ti, <span class="keyword">class</span> Tf&gt;</div><div class="line"><a name="l00006"></a><span class="lineno"><a class="line" href="classMapReader.html">    6</a></span>&#160;<span class="keyword">class </span><a class="code" href="classMapReader.html">MapReader</a> {</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    <a class="code" href="classMapReader.html">MapReader</a>(<span class="keyword">const</span> std::string&amp; file, <span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>) {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;      <span class="keywordflow">try</span> {</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;        YAML::Node config = YAML::LoadFile(file);</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;        <span class="keywordflow">if</span>( !config[0][<span class="stringliteral">&quot;start&quot;</span>] || !config[1][<span class="stringliteral">&quot;goal&quot;</span>] || !config[2][<span class="stringliteral">&quot;origin&quot;</span>] || !config[3][<span class="stringliteral">&quot;dim&quot;</span>] || !config[4][<span class="stringliteral">&quot;resolution&quot;</span>] || !config[5][<span class="stringliteral">&quot;data&quot;</span>]) {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;          printf(<span class="stringliteral">&quot;Check input format!\n&quot;</span> );</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;          <span class="keywordflow">return</span>;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;        }</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;        <span class="keyword">const</span> std::vector&lt;double&gt;&amp; start = config[0][<span class="stringliteral">&quot;start&quot;</span>].as&lt;std::vector&lt;double&gt;&gt;();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; start.size(); i++)</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;          start_(i) = start[i];</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <span class="keywordflow">if</span>(verbose)</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;start: &quot;</span> &lt;&lt; start_.transpose() &lt;&lt; std::endl;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <span class="keyword">const</span> std::vector&lt;double&gt;&amp; goal = config[1][<span class="stringliteral">&quot;goal&quot;</span>].as&lt;std::vector&lt;double&gt;&gt;();</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; goal.size(); i++)</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;          goal_(i) = goal[i];</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <span class="keywordflow">if</span>(verbose)</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;goal: &quot;</span> &lt;&lt; goal_.transpose() &lt;&lt; std::endl;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <span class="keyword">const</span> std::vector&lt;double&gt;&amp; origin_vec = config[2][<span class="stringliteral">&quot;origin&quot;</span>].as&lt;std::vector&lt;double&gt;&gt;();</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; origin_vec.size(); i++)</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;          origin_(i) = origin_vec[i];</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        <span class="keywordflow">if</span>(verbose)</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;origin: &quot;</span> &lt;&lt; origin_.transpose() &lt;&lt; std::endl;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keyword">const</span> std::vector&lt;int&gt;&amp; dim_vec = config[3][<span class="stringliteral">&quot;dim&quot;</span>].as&lt;std::vector&lt;int&gt;&gt;();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; dim_vec.size(); i++)</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;          dim_(i) = dim_vec[i];</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        <span class="keywordflow">if</span>(verbose)</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;dim: &quot;</span> &lt;&lt; dim_.transpose() &lt;&lt; std::endl;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        resolution_ = config[4][<span class="stringliteral">&quot;resolution&quot;</span>].as&lt;<span class="keywordtype">double</span>&gt;();</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keywordflow">if</span>(verbose)</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;resolution: &quot;</span> &lt;&lt; resolution_ &lt;&lt; std::endl;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keyword">const</span> std::vector&lt;int&gt;&amp; data = config[5][<span class="stringliteral">&quot;data&quot;</span>].as&lt;std::vector&lt;int&gt;&gt;();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        data_.resize(data.size());</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; data.size(); i++)</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;          data_[i] = data[i] &gt; 0 ? 1 : 0;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        exist_ = <span class="keyword">true</span>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      } <span class="keywordflow">catch</span> (YAML::ParserException&amp; e) {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="comment">//std::cout &lt;&lt; e.what() &lt;&lt; &quot;\n&quot;;</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        exist_ = <span class="keyword">false</span>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    }</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">bool</span> exist() { <span class="keywordflow">return</span> exist_; }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    Tf origin() { <span class="keywordflow">return</span> origin_; }</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    Ti dim() { <span class="keywordflow">return</span> dim_; }</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">double</span> start(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> start_(i); }</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordtype">double</span> goal(<span class="keywordtype">int</span> i) { <span class="keywordflow">return</span> goal_(i); }</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordtype">double</span> resolution() { <span class="keywordflow">return</span> resolution_; }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    std::vector&lt;signed char&gt; data() { <span class="keywordflow">return</span> data_; }</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">private</span>:</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    Tf start_;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    Tf goal_;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    Tf origin_;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Ti dim_;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">double</span> resolution_;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    std::vector&lt;signed char&gt; data_;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">bool</span> exist_ = <span class="keyword">false</span>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;};</div><div class="ttc" id="classMapReader_html"><div class="ttname"><a href="classMapReader.html">MapReader</a></div><div class="ttdef"><b>Definition:</b> read_map.hpp:6</div></div>
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